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authorNicolas Schodet2013-04-08 22:14:52 +0200
committerNicolas Schodet2013-04-10 00:43:00 +0200
commitbbd0d642484b2865b8290e70e5b7c4ba45a41856 (patch)
treed405f4fb211c6986da45213e6a643d3e7729aa36 /digital/io-hub/src/apbirthday
parentbcaf3117b0e0c7c4dc8bf5442637d2639a92989a (diff)
digital/io-hub/src/apbirthday: change Asserv::get_position syntax
Diffstat (limited to 'digital/io-hub/src/apbirthday')
-rw-r--r--digital/io-hub/src/apbirthday/robot.cc6
-rw-r--r--digital/io-hub/src/apbirthday/top.cc6
2 files changed, 4 insertions, 8 deletions
diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc
index d6f29964..cd782ffc 100644
--- a/digital/io-hub/src/apbirthday/robot.cc
+++ b/digital/io-hub/src/apbirthday/robot.cc
@@ -124,8 +124,7 @@ Robot::main_loop ()
// Handle communications.
bool sync = main_i2c_queue_.sync ();
zb_i2c_queue_.sync ();
- Position robot_pos;
- asserv.get_position (robot_pos);
+ Position robot_pos = asserv.get_position ();
beacon.send_position (robot_pos.v);
// Look for obstacles.
if (usdist_control_.update ())
@@ -336,8 +335,7 @@ Robot::proto_stats ()
return;
if (stats_asserv_ && !--stats_asserv_cpt_)
{
- Position pos;
- asserv.get_position (pos);
+ Position pos = asserv.get_position ();
stats_proto_->send ('A', "hhH", pos.v.x, pos.v.y, pos.a);
stats_asserv_cpt_ = stats_asserv_;
}
diff --git a/digital/io-hub/src/apbirthday/top.cc b/digital/io-hub/src/apbirthday/top.cc
index 46c55a29..0f3f60f5 100644
--- a/digital/io-hub/src/apbirthday/top.cc
+++ b/digital/io-hub/src/apbirthday/top.cc
@@ -64,8 +64,7 @@ top_cake_angle (const vect_t &pos)
static uint16_t
top_cake_angle_robot ()
{
- Position pos;
- robot->asserv.get_position (pos);
+ Position pos = robot->asserv.get_position ();
return top_cake_angle (pos.v);
}
@@ -142,8 +141,7 @@ top_follow_or_leave ()
bool
top_follow_blocking (int dir_sign)
{
- Position robot_pos;
- robot->asserv.get_position (robot_pos);
+ Position robot_pos = robot->asserv.get_position ();
uint16_t robot_angle = top_cake_angle (robot_pos.v);
// Check for an obstacle on a small segment.
vect_t dst;